On the role of lidar measurements in speeding up precise point positioning convergence

Author:

Zhang Junjie,Khodabandeh Amir,Khoshelham Kourosh

Abstract

AbstractGlobal navigation satellite system (GNSS) and light detection and ranging (lidar) are well known to be complementary for vehicle positioning in urban canyons, where GNSS observations are prone to signal blockage and multi-path. As one of the most common carrier-phase-based precise positioning techniques, precise point positioning (PPP) enables single-receiver positioning as it utilizes state-space representation corrections for satellite orbits and clocks and does not require a nearby reference station. Yet PPP suffers from a long positioning convergence time. In this contribution, we propose to reduce the PPP convergence using an observation-level integration of GNSS and lidar. Lidar measurements, in the form of 3D keypoints, are generated by registering online scans to a pre-built high-definition map through deep learning and are then combined with dual-frequency PPP (DF-PPP) observations in an extended Kalman filter implementing the constant-velocity model that captures the vehicle dynamics. We realize real-time PPP (RT-PPP) in this integration using the IGS real-time service products for vehicle positioning. Comprehensive analyses are provided to evaluate different combinations of measurements and PPP corrections in both static and simulated kinematic modes using data captured by multiple receivers. Experimental results show that the integration achieves cm-level accuracy and instantaneous convergence by using redundant measurements. Accordingly, for classical PPP accuracy of 10 cm and convergence within minutes, respectively, lidar input is only required once every 10 s.

Funder

University of Melbourne

Publisher

Springer Science and Business Media LLC

Subject

General Earth and Planetary Sciences

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Contribution to the Investigation of Infrastructure Readiness in Terms of Cooperative, Connected and Automated Mobility Localization;2024 47th International Conference on Telecommunications and Signal Processing (TSP);2024-07-10

2. 3-D LiDAR-Based Place Recognition Techniques: A Review of the Past Ten Years;IEEE Transactions on Instrumentation and Measurement;2024

3. FAST CONVERGING LIDAR-AIDED PRECISE POINT POSITIONING: A CASE STUDY WITH LOW-COST GNSS;ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences;2023-12-05

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